CN103793051A - Method and apparatus for simulating surface features on user interface with haptic effect - Google Patents
Method and apparatus for simulating surface features on user interface with haptic effect Download PDFInfo
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- CN103793051A CN103793051A CN201310529209.2A CN201310529209A CN103793051A CN 103793051 A CN103793051 A CN 103793051A CN 201310529209 A CN201310529209 A CN 201310529209A CN 103793051 A CN103793051 A CN 103793051A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B6/00—Tactile signalling systems, e.g. personal calling systems
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/048—Indexing scheme relating to G06F3/048
- G06F2203/04809—Textured surface identifying touch areas, e.g. overlay structure for a virtual keyboard
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Abstract
The invention relates to a method and apparatus for simulating surface features on a user interface with haptic effects, and provides a haptic effect enabled device for simulating a tactile sensation on a surface. In some cases, the haptic effect enabled device may be a user interface device, and the tactile sensation may be simulated on a surface of the user interface device. The interface device may include a haptic output device configured to generate a haptic effect, such as a periodic haptic effect, at the surface. The interface device may include a drive module configured to generate a periodic drive signal based on a touch input at the surface of the interface device and based on the tactile sensation to be simulated at the surface. The interface device may include a drive circuit operatively coupled to the drive module and the haptic output device and configured to apply the periodic drive signal to the haptic output device. In some cases, the surface may be separated from the device.
Description
Technical field
The present invention relates to the method and apparatus for simulating the surface characteristics in the user interface with haptic effect.
Background technology
Some electronic user interface devices can produce haptic effect, have to indicate the feature presenting on user interface device.If electronic user interface device has touch interface, the existence of haptic effect can indicative character be touched by user so, and not existing of haptic effect can indicative character not be touched.Other details of feature, such as its texture, can visually be transferred to user.Fixing periodicity haptic effect is generally described to the additional detail of user's transmission feature.But, generally, still limited to the ability of user's transmission feature details by haptic effect.
Summary of the invention
According to an aspect of the present invention, provide a kind of method for generation of haptic effect.The method can comprise based on lip-deep touch input and produce periodic drive signal based on the tactile sensation that will simulate from the teeth outwards.Can apply periodic drive signal to sense of touch output unit.
In one embodiment, surface can be the surface of interface device, and sense of touch output unit can be coupled with surface.In an embodiment, sense of touch output unit can be configured to produce static friction.The generation of periodic drive signal can comprise amplitude, frequency or the waveform of revising periodic drive signal to change the lip-deep friction level of interface device.Position, speed, acceleration, pressure or the contact area of the change of signal based on touching input.
In an embodiment, the simulation transition between the first simulated domain that can be based on showing on the surface of interface device and the second simulated domain showing on the surface of interface device, changes amplitude, frequency or the waveform of periodic drive signal.In an embodiment, simulation transition can comprise the movement on the simulation edge of the first simulated domain or the second simulated domain.In some cases, when the position that touches input is substantially on edge time, amplitude, frequency or waveform can change.
In an embodiment, the texture that periodic drive signal can be based on simulating on the surface of interface device.In some cases, texture can comprise lip-deep grid or the reticulate pattern reason of interface device.Grid can comprise for example multiple edges.In some cases, the generation of periodic drive signal can comprise the frequency of the interval between the multiple edges based on grid or net and the speed change driving signal based on lip-deep touch input.In some cases, texture can comprise the lip-deep glutinous sliding texture of interface device, here, produces periodic drive signal and can comprise the lip-deep sliding texture of pause period driving signal with modeling interface device.
In an embodiment, can change by pseudorandom quantities frequency or the amplitude of periodic drive signal.
In an embodiment, method can comprise that generation has two periodic drive signal of different frequencies.
In an embodiment, can receive the contact power of the record of the material mobile across another surface.Can produce periodic drive signal based on the contact power of record.
According to an aspect of the present invention, provide a kind of haptic effect that comprises sense of touch output unit, driver module and driving circuit to enable device.Driver module can be configured to based on lip-deep touch input and produce periodic drive signal based on the tactile sensation that will simulate from the teeth outwards.Driving circuit can and be configured to apply periodic drive signal to sense of touch output unit with driver module and sense of touch output unit operational coupled
In an embodiment, it can be interface device that haptic effect is enabled device, and surface can be the surface of interface device.In an embodiment, sense of touch output unit can be configured to produce static friction.In an embodiment, driver module can be configured to by changing periodic drive signal amplitude, frequency or waveform produce periodic drive signal with the lip-deep friction level that changes interface device.Change can be based on touching position, speed, acceleration, pressure or the contact area inputted.
Consider the following description and appended claim with reference to accompanying drawing, all these form the part of this instructions, the combination of the method for operating of the relevant factor of these and other aspect of the present invention, feature and characteristic and structure and function and part and manufacture are economical will become more obvious, wherein, similarly Reference numeral represents corresponding part in each figure.But, should be appreciated that accompanying drawing is only for the object of explaining and describing, not restriction of the present invention.Unless context explicitly points out in addition, otherwise, the singulative " one " that uses in instructions and claim, one " and " being somebody's turn to do " comprise multiple.
Accompanying drawing explanation
The schematically illustrated devices in accordance with embodiments of the present invention of Figure 1A～1B.
The device of the schematically illustrated Figure 1A of Fig. 2 changes the haptic effect producing on the surface of device.
The device of the schematically illustrated Figure 1A of Fig. 3 A～3C changes the haptic effect producing on the region of simulating on the surface at device.
The device of the schematically illustrated Figure 1A of Fig. 4 changes the haptic effect producing on the region of simulating on the surface of device.
The lip-deep edge of the device simulation apparatus of the schematically illustrated Figure 1A of Fig. 5.
The signal of the device of the schematically illustrated Figure 1A of Fig. 6 A～6B based on from another surperficial sensory register produces haptic effect in its surface.
The device combination tactile of the schematically illustrated Figure 1A of Fig. 7 A～7B drives signal to produce haptic effect.
The device of the schematically illustrated Figure 1A of Fig. 8 A～8C produces haptic effect by random or pseudorandom composition.
Fig. 9 illustrates the frequency distribution of the random or pseudorandom composition of haptic effect.
Figure 10 A～10B illustrates the operation that produces haptic effect for the speed based on touching input.
Figure 11 A～11B illustrates the operation that produces haptic effect for the position based on touching input.
Figure 12 illustrates the function for the sensation intensity of normalization haptic effect.
Embodiment
Figure 1A illustrates that haptic effect enables the embodiment of user interface device 100, and this device 100 produces haptic effect on the surface 110 of device.Can produce haptic effect to simulate by device 100 features such as surface characteristics that present.For example, the surface characteristics of simulation can be texture, space pattern, edge or border or any other tactile sensation of surface 110 simulation, no matter be natural or artificial.In an embodiment, surface 110 can be the touch-screen that shows the image corresponding with simulation surface characteristics, and this image ratio has the image of the texture of simulation or the object of other tactile sensation in this way.In an embodiment, surface 110 can be touch pad or any other touch interface corresponding with the demonstration of image.
In an embodiment, device 100 can comprise sense of touch driver module (for example, controller 130), for generation of the sense of touch output unit 120 of haptic effect and with controller 130 and sense of touch output unit 120 operational coupled to apply the driving circuit that drives signal to sense of touch output unit.Controller 130 can comprise one or more processors or any other processing unit.Sense of touch output unit 120 can comprise actuator (for example, voice coil loudspeaker voice coil, ultrasonic vibration installation, solenoid, piezo-electric device or any other actuator), electrostatic equipment or any other sense of touch output unit.In some cases, ultrasonic vibration installation can reduce the friction level on surface 110.Controller 130 can with haptic device 120 operational coupled, this haptic device 120 can with surperficial 110 operational coupled.In the U.S. Patent application series No.13/092269 that the denomination of invention that is submission on April 22nd, 2011 is " Electro-vibrotactile Dislay ", discuss sense of touch output unit in more detail, added its full content here as a reference.
In an embodiment, controller 130 and haptic device 120 can be by controlling the surface characteristics on friction level simulation surface 110.For example, the haptic device 120 that comprises actuator can be by producing vibration control friction on surface 110.The haptic device 120 that comprises electrostatic equipment can apply Control of Voltage friction level by the surface 110 to below.Alternating voltage signal for example can produce the capacitive effect that attracts finger 10, stylus or any other object on surface 110.In the time that object is mobile across surface, lip-deep absorbability can be felt as friction.Increase absorbability and can increase lip-deep friction level.In the U.S. Patent application series No.13/092269 adding as a reference above, discuss in more detail by haptic effect control and rubbed.
As described in this application, in an embodiment, electrostatic equipment can use together with comprising the surface 110 that has the conductive layer of one or more electrodes and comprise insulation course.Conductive layer can be any semiconductor or other conductive material.Insulation course can be glass, plastics (for example, thermoplast), polymkeric substance or any other insulation course.Electrostatic equipment can be by applying AC signal operation, and this AC signal is in an embodiment near capacitive coupling conductive layer and surface 110 or the object of touch-surface 110.Can produce AC signal by high-voltage amplifier.
The friction level of capacitive coupling on can control surface 110.In an embodiment, can be by the friction level simulation texture on control surface 110.The absorption level changing between object and conductive layer can change across the friction on 110 objects that move of surface.Change friction force and can simulate one or more textures.
And capacitive coupling also can be by stimulating near surface 110 or multiple parts of the object of touch-surface 110 produce haptic effects, these parts are such as being mechanoreceptor in user's finger skin.In example, conductive layer can be applied in AC voltage signal, the current-carrying part coupling of this AC voltage signal and user's finger.When user is on screen when mobile its finger, user can feel other texture of picotement, granular sensation, rugged and rough sense, harsh feeling, viscosity or some.
In an embodiment, surface 110 does not have insulation course, makes directly touch conductive layer of object.Can produce haptic effect by applying voltage by conductive path to object from conductive layer.The present embodiment alternatively uses insulation course, but in insulation course, comprises one or more electrodes that can produce the conductive path from conductive layer to object, and these objects are touch electrode in the time that they move across insulation course.
In an embodiment, haptic effect is not limited to the surface (for example, surface 110) of electronic user interface device.In an embodiment, user's hand for example can touch object and still feel haptic effect beyond touch-screen or touch pad.Can by for example from signal generator or any other device for generating voltage to user's health directly apply voltage produce haptic effect.In some cases, device for generating voltage can be the locational autonomous device that is suitable for the health that is arranged on frequent contact user.Can while contacting the object that will simulate texture, apply voltage whenever sensor detects user's body.Voltage can be placed electric charge on user's health.Electric capacity reciprocation between electric charge on user's health and the object being touched can produce attractive force between user's health and object.Attractive force can be controlled the lip-deep friction level of object, and this can simulate texture or any other tactile sensation of the object being touched.The voltage changing on the health that is applied to user can change haptic effect, and changes the tactile sensation simulateding thus.If based on cyclical signal, changing voltage so, voltage can comprise the amplitude or the frequency that change signal.In some cases, object can have the conductive layer that is insulated layer encirclement.Electric capacity reciprocation can the electric charge on conductive layer and user's health between.In some cases, the object being touched and device for generating voltage all can have common ground connection.In some cases, user's health can be grounded.In some cases, user's health is not grounded.
In an embodiment, user can be by the electrostatic efficiency that produces on the surface of object and by the simulation texture on the real experiences sensation object of the increase that produced by electronic user interface device.For example, electronic user interface device can by show object catch image and on image overlapping texture graphical representation produce increase real experiences.In an embodiment, user can be by touching object and feeling the texture on object by the graphical representation of watching the texture on the object being overlapped in electronic user interface.
In an embodiment, controller 130 can be configured to cause haptic device 120 to produce periodically haptic effect.For example, Figure 1A illustrates the periodicity haptic effect that drives signal 201 based on sense of touch.In some cases, sense of touch driving signal can be periodic drive signal.In some cases, sense of touch drives signal can represent the haptic effect being produced by sense of touch output unit.For example, if sense of touch output unit 120 comprises electrostatic equipment, drive the haptic effect of signal 201 to comprise based on sense of touch so and there is the sinusoidal AC voltage that mates sense of touch driving signal 201 or frequency proportional to it and amplitude.If sense of touch output unit 120 comprises actuator, drive the haptic effect of signal 201 to comprise based on sense of touch so and there is the coupling sense of touch driving frequency of signal 201 and the vibration of amplitude.Periodically haptic effect can change according to the sinusoidal waveform shown in Figure 1A, square waveform, triangular waveform or zig-zag or any other periodic waveform.For example, can produce periodically electrostatic efficiency by thering is the AC voltage of sine, square, triangle, serrate or any other waveform.
In an embodiment, controller 130 can cause haptic device 120 to change haptic effect.For example, Figure 1A～1B illustrates, in the time that any other object of finger 10 or generation touch input moves across surface 110, changes the frequency of periodicity haptic effect.For example, as shown in Figure 1B, sense of touch drives signal 203 to be changed, and makes sense of touch drive the sense of touch of signal 203 and Figure 1A to drive compared with signal 201 and has larger frequency.In an embodiment, haptic effect how to change can position-based, speed, acceleration, moving direction, applied pressure, transverse force, contact area, the shape of contact area, approaching angle, orientation, temperature, electricity leads or the aridity of object or input based on system.Existing in the embodiment of touch input simultaneously, such as on multi-touch device, haptic effect how to change can based on touch in input any parameter or touch the combination in any of input.
In an embodiment, can change haptic effect by continuous mode.For example, Fig. 2 illustrate based on sense of touch drive signal 205 and 207 and on surface the touch on 110 input from position x
1move to position x
2time change frequency (from f
0become f
1) periodicity haptic effect.In an embodiment, the frequency of periodicity haptic effect can be used as linear the increasing of function of position.In another embodiment, can change based on any other continuous function any other characteristic of amplitude, phase place or the periodicity haptic effect of frequency, driving voltage V, to produce the continuous gradient of characteristics across surface 110.This function can be the function of position, time or their combination in any.Position or time can be determined by the controller such as controller 130.
In an embodiment, the continuous gradient in periodicity haptic effect when object moves across surface 110 can be simulated the gradient of texture or any other surface characteristics.For example, in the time that object moves across surface 110, periodically the change of haptic effect can be simulated the gradient of flatness, roughness, viscosity or any other texture.In an embodiment, periodically the change of haptic effect can be simulated such as the drag increasing gradually from spring or any other elastic force.In some cases, can on surface 110, show the image of spring or other elastomeric objects.Periodically haptic effect can be simulated with the vision of elastomeric objects and be shown and extend corresponding drag.
In an embodiment, can change haptic effect by discrete mode.For example, as shown in Figure 3A, haptic effect can change to simulate the zone of dispersion on surface 110, such as region 111 and 112.Produce while touching input when object is detected as in region 111, can produce the periodicity haptic effect that drives signal 209 based on sense of touch.When object is detected as while moving in region 112, periodically the frequency of haptic effect can increase discrete amount.The periodicity haptic effect changing drives signal 211 based on sense of touch.
In an embodiment, the zone of dispersion that changes haptic effect and can simulate the different texture of surface on 110 in discrete mode.For example, Fig. 3 B illustrates three zone of dispersions of three different texture of simulation.In the time that object is detected as touch area 113, can produces to have by sense of touch and drive the frequency that represents of signal 213 and the periodicity haptic effect of amplitude.Periodically haptic effect can be simulated first surface roughness levels.When object is detected as while moving in region 114, periodically the amplitude of haptic effect can reduce discrete amount.The periodicity haptic effect changing can drive signal 215 to simulate second surface roughness levels based on sense of touch.When object is detected as while moving in region 115, periodically amplitude and the frequency of haptic effect can increase discrete amount.The periodicity haptic effect changing can drive signal 217 to simulate the 3rd level of surface roughness based on sense of touch.In an embodiment, can on surface 110, present the visual performance of texture.For example, can on the region 113 and 115 on surface 110, present the image of rough surface.
In an embodiment, periodically haptic effect can suspend on the one or more regions on surface 110.For example, Fig. 3 C illustrates to produce based on sense of touch and drives the haptic effect of signal 219 to simulate the stick-slip texture on surface 110.In example, can produce periodically haptic effect and adhere to one or more regions of pointing on 10 or more generally thering is higher friction level with performance.And in example, periodically haptic effect can suspend to show finger 10 more easily across sliding or more generally not having one or more regions of high like that friction level.
In an embodiment, simulated domain can have any shape, and can in one or more dimensions, extend.For example, Fig. 4 illustrates the region of extending and have elliptical shape along two dimensions.When object is detected as while walking in region, the periodicity haptic effect of generation can be from driving the haptic effect of signal 221 become the haptic effect that drives signal 223 based on sense of touch based on sense of touch.Walk region when outside when object is detected as, the periodicity haptic effect of generation can change by contrary mode.
In an embodiment, for user's touch-surface 110, can produce periodically haptic effect, to produce happy or offending sensation, or more generally produce the sensation with psychology association.For example, user can feel to have low-frequency periodicity haptic effect for happiness and feel to have high-frequency periodicity haptic effect for unhappy.In an embodiment, periodically haptic effect can be relevant to the event showing on surface 110.For example, event can be lose the game showing or attempt the forbidden operation on actuating unit 100 on surface 110.In the time that event occurs, can produce haptic effect and make the offending sensation of user to produce.
In an embodiment, can be created in the haptic effect (for example, brief, unexpected pulse) of time or space colocalization, to simulate edge or screens.For example, Fig. 5 illustrates the haptic effect of the localization based on pulse signal 225.When object is detected as on surface 110 or walks x thereon
0time, can produce haptic effect and be positioned at x with simulation
0on edge or the walking of screens.When object leaves x
0time, or passing through position x from object
0through after predetermined time, the haptic effect of localization can stop.For example, haptic effect can be at object by position x
0continue 20 milliseconds afterwards.
In an embodiment, the direction that haptic effect can be based on mobile.For example, move along specific direction if touch input, the haptic effect of localization can be stronger.Haptic effect can be simulated such as the direction texture of fish scale or for example, such as other direction character of screens (, in ratchet).
In an embodiment, the haptic effect of description can be a part for interface metaphor.For example, can represent different files, workspace, window or any other metaphor using by the different region that changes haptic effect simulation in computing environment.In the metaphor of interface, can drag by the key element the friction guidance surface 110 producing from haptic effect.The friction level being produced by haptic effect can for example indicate the key element dragging to what extent to approach target location.
In an embodiment, the haptic effect producing from the teeth outwards can be based on obtaining from another surface measurement.For example, in order to characterize another surface, probe can be mobile across another surface and the acceleration of measuring probe or speed, from the mobile sound producing, any other Contact Dynamics measure, from the light of surface reflection or any other amount.For example, Fig. 6 A is illustrated in the signal 227a of probe across surface 140 acceleration of capture probe while moving.Can pass through accelerometer, camera or any other sensor measurement acceleration.In an embodiment, represent the signal 227a that the acceleration of probe or speed are lower value can with surface 140 on the region with higher friction factor (for example, rough region) correspondence, and represent the acceleration of probe or the higher signal 227a of speed value can with surface 140 on the region with lower friction factor (for example, smooth region) correspondence.The signal 227a that haptic effect can be caught surface 140 measurement by playback reproduces or substantially reproduces the surface characteristics on surface 140.For example, the signal that haptic effect can be based on being shown 227b, this signal is identical with signal 227a or substantially the same.Haptic effect on surface 110 can imitate the texture on surface 140 or other tactile feature thus.In some cases, can be further before producing haptic effect based on signal processing signals 227b.The signal 227b processing may be different from signal 227a.
In an embodiment, the playback speed of signal 227a can be based on surface the object on 110 with respect to the translational speed of translational speed of probe of measuring surface 140.For example, if finger 10 is than moving soon across surface 140 probes that move, signal 227b can be the compressed version of the signal 227a in time domain so.If finger 10 is than mobile slowly across surface 140 probes that move, signal 27b can be the extended version of the signal 227a in time domain so.It is reproduced that in time domain, compression or spread signal 227a can maintain space length in surface characteristics.For example, if probe was measured the 1cm on surface 140 in 1 second, so, for the finger moving with the speed of 2cm/sec on surface 110, the signal of measurement should be played in 0.5 second.The signal that compression is measured in time domain guarantees that the surface characteristics of reproducing still occupies the space of the 1cm on surface 110.
In an embodiment, haptic effect can drive based on one or more senses of touch the combination of signal.Can for example,, by overlapping, modulation (, amplitude or frequency modulation (PFM)), convolution or any other combination, combine two signals.One or more senses of touch drive the combination of signal can comprise discrete signal, continuous signal or their combination arbitrarily.Fig. 7 A illustrates the haptic effect that can drive based on sense of touch the overlapping generation of signal 229 and 231.In an embodiment, can, by producing two effects, such as by causing a sense of touch output unit to produce haptic effect based on signal 229 and causing another sense of touch output unit to produce haptic effect based on signal 231, produce haptic effect.User can feel the single haptic effect of being combined as of two haptic effects.In an embodiment, can, by first driving the combination of signal 229 and 231 the combination results haptic effect based on calculating such as calculate sense of touch by controller 130, produce haptic effect.
Combination results haptic effect that can be based on any signal.The signal being combined can have different phase places, amplitude, frequency or waveform.Fig. 7 B illustrates the haptic effect of the signal 233 of the combination based on for example, for example, as cyclical signal (, the signal 229 of Fig. 7 A) and pulse signal (, the signal 225 of Fig. 5).Can simulate and be attributable to edge or the screens that periodically sense of touch drives the texture of signal and is attributable to pulse signal from the haptic effect of combination results.In an embodiment, can use different periodicity senses of touch to drive signal at the not homonymy at edge.The region that the haptic effect producing from different cyclical signals can be simulated the different texture of separating by edge.In an embodiment, the signal being combined can be based on different input.For example, the position that the first sense of touch drives signal to input based on the touch on surface 110, and can drive signal combination with the second sense of touch of the contact area of position-based, applied pressure and touch input.
In an embodiment, haptic effect can the random or pseudorandom sense of touch such as signal 235 based on shown in Fig. 8 A drive signal.Random effect random or pseudo random signal can add the sense of reality to the surface characteristics of simulation.In an embodiment, can in the time producing haptic effect, use separately random or pseudo random signal.In an embodiment, the value of signal can be defined to predetermined scope.Can be from the sampling of one or more values of spontaneous phenomenon, produce random or pseudo random signal from Gabor function, tandom number generator or any other technology.
In an embodiment, haptic effect can be based on combination random or pseudo random signal and another signal.For example, as shown in Figure 8 B, haptic effect can be based on signal 239, and this signal 239 is random or pseudo random signal and can be the combination of the signal 237 of cyclical signal.
As discussed above, can, by overlapping, modulation, convolution or any other combination, carry out composite signal.Fig. 8 B is illustrated in the embodiment of overlapping random or pseudo random signal on signal 237.Fig. 8 C illustrates the embodiment that random or pseudo random signal 241 can frequency modulation (PFM) cyclical signal.Random or pseudo random signal 241 in embodiment can be discrete signal.In another embodiment, random or pseudo random signal can be continuous.In embodiment in Fig. 8 C, haptic effect based on sense of touch drive the frequency of signal 243 can be based on analog value random or pseudo random signal 241.For example, sense of touch drives the frequency of signal 243 can equal the analog value of random or pseudo random signal 241, or can be adjusted by the value of random or pseudo random signal 241.
In an embodiment, can produce random or pseudo random signal from the frequency distribution of the hope of random or pseudo random signal.For example, Fig. 9 illustrates the power spectrum that limits the power distribution of random or pseudo random signal across certain frequency range.Can be such as producing random or pseudo random signal by inverse fourier transform or by time domain instrument from frequency distribution.In an embodiment, if the frequency distribution that haptic effect, based on random or pseudo random signal and the periodically combination of sense of touch driving signal, can produce random or pseudo random signal so drives one or more peak values of one or more frequencies of signal to make it have the sense of touch of coupling periodicity.For example, in the case of expecting and have the cyclical signal combination of frequency of f0, the power spectrum random or pseudo random signal 241 in Fig. 9 can have peak value on f0.
As discussed above, how haptic effect is can be based on object across the characteristic moving such as the touch interface on surface 110.Characteristic can comprise mobile position, speed, acceleration or any other characteristic.Figure 10 A～10B and Figure 11 A～11B illustrate that position-based and/or speed produce haptic effect with simulation surface characteristics.
Figure 10 A illustrates that the speed for moving across touch interface based on object changes the method 300 of haptic effect with simulation grid or any other surface characteristics.Grid can be modeled as can be by a series of edge of the haptic effect simulation based on a series of pulse signal.In embodiment in Figure 10 A～10B, the edge in grid can have identical interval.In another embodiment, edge can at random separate.The timing of the operation capable of regulating haptic effect of method 300, makes, no matter the speed of the object that moves across touch interface how, surface characteristics all simulated on the area of identical distance or touch interface.
In operation 301, can measure the location or the position that on touch interface, produce the object that touches input, such as pointing 10 on surface 110.In the diagram of Figure 10 B, for example, operation 301 can measure object respectively on 0 second mark, 1 second mark, 2 seconds marks and 3 seconds marks on 0mm, 1mm, 3mm and 6mm position.
In operation 303, can estimate or determine in addition the speed of object.Can for example pass through the variation divided by the time by the variation of position, estimating speed.In diagram in Figure 10 B, for example, operation 303 can be respectively at 1 second mark, 2 seconds marks with within 3 seconds, estimate the speed of 1mm/s, 2mm/s and 3mm/s on mark.
In operation 305, can adjust haptic effect based on the speed of estimating.For example, there is the grid at identical interval in order to simulate edge, if the speed of object increase, must in time domain, compress haptic effect based on pulse signal.If the Speed Reduction of object can be expanded pulse signal in time domain.If this serial pulse signal is regarded as periodic square wave, operates so 305 and can be regarded as update cycle property side's wave frequency.In diagram in Figure 10 B, in the time that speed is increased to 2mm/sec from 1mm/sec, the frequency of periodic square wave can be increased to 4Hz from 2Hz.In each speed, haptic effect can be simulated two edges (for example, (4 circulations/sec)/(2mm/sec)) of the grid of every micron.In the time that speed is increased to 3mm/sec from 2mm/sec, frequency can be increased to 6Hz from 4Hz, still to simulate two edges of grid of every millimeter.In inconstant other embodiment in interval in grid or any other surface characteristics, still adjust pro rata the timing of haptic effect with the velocity variations that touches input, simulated with the Spatial Dimension that maintains surface characteristics.
In the embodiment of Figure 10 A～10B, owing to being that therefore the renewal of haptic effect can lag behind the variation of speed with mode per second rather than measuring speed continuously.For example, Figure 10 B illustrates, between 1 second mark and 2 seconds marks, produces the object that the touches input 2mm that advanced.The speed at this interval is 2mm/sec thus.But the speed of this increase is not measured before 2 seconds marks, and haptic effect was not updated before mark at 2 seconds thus.As a result of, when object is at 1 second mark and while within 2 seconds, advancing 2mm between mark, haptic effect is only simulated two edges rather than four.Similarly, when object is at 2 seconds marks and while within 3 seconds, advancing 3mm between mark, haptic effect is only simulated four edges rather than six.Therefore,, due to measuring speed per second, therefore, the haptic effect of renewal lags behind the variation one second of speed.In an embodiment, can reduce to lag behind by reducing the speed of the object on time and/or the touch interface between measuring position.In an embodiment, can be by estimating that speed in the future reduces to lag behind.For example, on mark, be calculated as 2mm/sec at 2 seconds if speed was calculated as 1mm/sec on mark at 1 second, can the speed of planning will on mark, be increased to 3mm/sec at 3 seconds so.Then, on 2 seconds marks, can by by haptic effect based on signal frequency be increased to 6Hz, desired speed is increased to 3mm/sec.
Figure 11 A～11B illustrates the method 400 that produces haptic effect for the position of the object based on moving across touch interface.
In operation 401, can determine the position of the object on touch interface.For example, the position that Figure 11 B illustrates object is at time t
1on be measured as x
1example.Similar with the embodiment in Figure 10 A～10B, the haptic effect of the generation in Figure 11 A～11B can lag behind the haptic effect of hope similarly.For example, position x
1the haptic effect of hope can be dependent on object from position x
1the direction that obtains, object are from position x
1speed or their combination arbitrarily.Determine the position that direction or speed can need the future of the object that will be determined.Due at time t
2the position x in the future of object before
2or the speed of object is unknown, therefore, at object by position x
1afterwards, for position x
1the haptic effect producing can lag behind the object by this position.Can reduce to lag behind by the time reducing between the measuring position of the object on touch interface.
At time t
2, operation 403 can be based on current location x
iwith past position x
i-1be position x
2with position x
1calculate the output valve of haptic effect.Calculating output valve can comprise calculating will be at t
2near the sense of touch of the haptic effect of upper or generation drives signal.Drive the waveform of signal to have like that and x as shown in Figure 11 B
iand x
i-1between N discrete value corresponding to N position, or can be continuous.
In operation 405, can produce the haptic effect of the waveform based on calculating in operation 403.The haptic effect producing can mate x
iand x
i-1between the haptic effect of hope at interval.If the sense of touch of calculating in operation 403 drives signal to have N discrete value, can export haptic effect based on one in these values second for every Δ t/N so, here, Δ t measures the position of object and produces the time between new haptic effect.Figure 11 B illustrates that the sense of touch of signal 243 and hope drives the hysteresis between signal.As discussed above, although for x
1and x
2between interval wish the haptic effect based on signal, but pass through x at object
2do not produce it before.As discussed above, can, by reducing the time between the measuring position of the object on touch interface, reduce and lag behind.
In an embodiment, the intensity of haptic effect can be normalized.Normalization can for example, for being for example perceived as in different frequencies or having the periodicity haptic effect of different intensity in different contact performance (, different touch input speeds, applied pressure, finger humidity level).Figure 12 illustrates the intensity level of perceiveing 501 as the function of frequency.Compare from the haptic effect with different frequencies, even if two haptic effects have identical actual strength, the control cycle haptic effect with a frequency also can more easily be perceiveed.All normalized functions 503 as shown in figure 12 can be by the intensity normalization of perceiveing across certain frequency.The intensity normalization that periodically haptic effect can be perceiveed by for example its amplitude being multiplied by the value of the normalized function corresponding with the frequency of periodicity haptic effect.In an embodiment, normalized function 503 can be the inverse function (for example, add or take advantage of and calculate inverse function) of the strength function 501 perceiveed.Exemplary normalized intensity value 505 shown in Figure 12.
In an embodiment, the haptic effect producing for electronic user interface device can be dependent on the interactive history with electronic user interface device.For example, haptic effect can be dependent on previous touch and inputs the combination of inputting with current touch.Previous touch input may cause producing a haptic effect, and current touch input may for example cause producing different haptic effects.In an embodiment, after touch input being detected, haptic effect can be suspended to predetermined time.
One or more operations of one or more methods disclosed herein can be embodied as and are stored in one or more instructions of carrying out on computer-readable medium and by one or more processors.For example, can, by being stored in firmware or the software on RAM, ROM, EPROM, flash memory, hard drive or any other computer-readable medium, realize one or more operations.
Although be considered as most realistic and description preferred embodiment and describe for illustrative purposes the present invention in detail based on current, but should understand, these details are only for this purpose, and, the invention is not restricted to disclosed embodiment, on the contrary, the present invention will cover modification in the spirit and scope in appended claim and configuration of equal value.For example, should be appreciated that the present invention imagines, in possible degree, one or more features of any embodiment can with one or more Feature Combinations of any other embodiment.
Claims (22)
1. for generation of a method for haptic effect, comprising:
Based on lip-deep touch input and the generation of the tactile sensation based on simulating from the teeth outwards periodic drive signal; With
Apply periodic drive signal to sense of touch output unit.
2. according to the method for claim 1, wherein, surface is the surface of interface device, and, sense of touch output unit and surface coupling, and be configured to produce static friction, and, described generation periodic drive signal comprises amplitude, frequency or the waveform of revising periodic drive signal to change the lip-deep friction level of interface device, position, speed, acceleration, pressure or the contact area of described change based on touching input.
3. according to the method for claim 2, wherein, described generation periodic drive signal comprise the first simulated domain based on showing on the surface of interface device and the second simulated domain of showing on the surface of interface device between simulation transition change amplitude, frequency or the waveform of periodic drive signal.
4. according to the method for claim 3, wherein, the movement on the simulation edge that simulation transition comprises the first simulated domain or the second simulated domain, and, in the time that the position that touches input is substantially on edge, amplitude, frequency or waveform change.
5. according to the method for claim 2, wherein, the texture of described generation periodic drive signal based on simulating on the surface of interface device.
6. according to the method for claim 5, wherein, the lip-deep grid that texture comprises interface device or reticulate pattern reason, grid comprises multiple edges, and described generation periodic drive signal comprises the interval between the multiple edges based on grid or net and the speed based on lip-deep touch input changes the frequency that drives signal.
7. according to the method for claim 5, wherein, the lip-deep glutinous sliding texture that texture comprises interface device, and described generation periodic drive signal comprises pause period and drives the lip-deep sliding texture of signal with modeling interface device.
8. according to the method for claim 2, wherein, described generation periodic drive signal comprises the frequency or the amplitude that change periodic drive signal by pseudorandom quantities.
9. according to the method for claim 2, wherein, periodic drive signal is that period 1 property drives signal, method also comprises that producing property second round drives signal, and apply property second round to sense of touch output unit and drive signal, wherein, period 1 property drives signal to have from property second round and drives the different frequency of signal.
10. according to the method for claim 1, also comprise the contact power of the record that receives the object mobile across another surface, wherein, the contact power of described generation periodic drive signal based on record.
11. according to the process of claim 1 wherein, sense of touch output unit is electrically connected and is not coupled with surface with the object that therefrom receives touch input.
12. 1 kinds of haptic effects are enabled device, comprising:
Sense of touch output unit;
Be configured to the driver module based on lip-deep touch input and the generation of the tactile sensation based on simulating from the teeth outwards periodic drive signal; With
With driver module and sense of touch output unit operational coupled and be configured to apply to sense of touch output unit the driving circuit of periodic drive signal.
13. according to the device of claim 12, wherein, it is interface device that haptic effect is enabled device, wherein, surface is the surface of interface device, and sense of touch output unit is coupled and is configured to produce static friction with surface, and amplitude, frequency or waveform that driver module is configured to by changing periodic drive signal produce periodic drive signal with the position, speed, acceleration, pressure or the contact area that change the lip-deep friction level of interface device and input based on touch.
14. according to the device of claim 13, wherein, driver module is configured to change by the simulation transition between the first simulated domain based on showing on the surface of interface device and the second simulated domain of showing on the surface of interface device amplitude, frequency or the waveform generation periodic drive signal of periodic drive signal.
15. according to the device of claim 14, wherein, movement on the simulation edge that simulation transition comprises the first simulated domain or the second simulated domain, and driver module is configured to when the amplitude, frequency or the waveform that touch the position of inputting and change substantially on edge time periodic drive signal.
16. according to the device of claim 13, and wherein, driver module is configured to produce periodic drive signal based on the texture that will simulate on the surface of interface device.
17. according to the device of claim 16, wherein, the lip-deep grid that texture comprises interface device or reticulate pattern reason, grid comprises multiple edges, and driver module is configured to be changed and driven the frequency of signal to produce periodic drive signal by the interval between the multiple edges based on grid or net and the speed based on lip-deep touch input.
18. according to the device of claim 16, wherein, the lip-deep glutinous sliding texture that texture comprises interface device, and driver module is configured to drive signal to produce periodic drive signal with the lip-deep sliding texture of modeling interface device by pause period.
19. according to the device of claim 13, and wherein, driver module is configured to change by pseudorandom quantities frequency or the amplitude generation periodic drive signal of periodic drive signal.
20. according to the device of claim 12, wherein, periodic drive signal is that period 1 property drives signal, driver module is configured to produce have from period 1 property and drives property second round of the different frequency of signal to drive signal, and driving circuit is configured to apply two driving signal to sense of touch output unit.
21. according to the device of claim 12, and wherein, driver module is being configured to the contact power of the record that receives the object mobile across another surface, and is configured to produce periodic drive signal based on the contact power of record.
22. according to the device of claim 12, and wherein, sense of touch output unit is electrically connected and is not coupled with surface with the object that therefrom receives touch input.
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| US13/665,526 US9196134B2 (en) | 2012-10-31 | 2012-10-31 | Method and apparatus for simulating surface features on a user interface with haptic effects |
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| EP (1) | EP2728445B1 (en) |
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| EP2728445A2 (en) | 2014-05-07 |
| JP2020074103A (en) | 2020-05-14 |
| JP2014112357A (en) | 2014-06-19 |
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| US20140118127A1 (en) | 2014-05-01 |
| US20160085307A1 (en) | 2016-03-24 |
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| US9196134B2 (en) | 2015-11-24 |
| CN110297538A (en) | 2019-10-01 |
| EP2728445B1 (en) | 2016-03-09 |
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| US9727142B2 (en) | 2017-08-08 |
| US20190121437A1 (en) | 2019-04-25 |
| CN103793051B (en) | 2019-07-23 |
| US20170300118A1 (en) | 2017-10-19 |
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